Light guide member having a curvatured detection face, object detection apparatus, and vehicle

ABSTRACT

A light guide member for an object detection apparatus is devised. The object detection apparatus includes a light source unit, and a detection unit for detecting an object adhered on a surface of a light translucent member based on change of light quantity of reflection light received from the light translucent member. The light guide member includes an incident face where the light exiting from the light source unit enters; a detection face where the exiting light exits to a rear face of the light translucent member and the reflection light reflected from the light translucent member enters; an exiting face where the reflection light exits to the detection unit; and a light guiding portion through which the exiting light and the reflection light proceed. The detection face has curvature corresponding to curvature of the light translucent member.

This application claims priority pursuant to 35 U.S.C. §119(a) toJapanese Patent Application No. 2013-184682, filed on Sep. 6, 2013 inthe Japan Patent Office, the disclosures of which are incorporated byreference herein in their entirety.

BACKGROUND

1. Technical Field

The present invention relates to a light guide member, an objectdetection apparatus having the light guide member, and a vehicle.

2. Background Art

Object detection apparatuses for detecting an object (e.g., raindrop)adhered on a surface of a light translucent member (e.g., windshield)composing a vehicle are known.

The object detection apparatus includes, for example, a light sourcesuch as a light emitting element that emits light to irradiate anobject, and a detection unit such as a light receiving element toreceive reflection light reflected from the object and to detect theobject based on change of light quantity of the received reflectionlight.

The object detection apparatus includes, for example, a light guidemember made of translucent material, disposed between the lighttranslucent member (e.g., windshield), and the light source and thedetection unit to guide light exiting from the light source andreflection light reflected from an object.

As to the object detection apparatus including the light guide member,to avoid false detection of an object, it is required that air bubbledoes not exist between the light guide member and the light translucentmember.

In view of this, when installing the object detection apparatus,adhesive material such as adhesive layer or adhesive sheet may bedisposed between the light guide member and the light translucent memberto prevent intrusion of air bubble between the light guide member andthe light translucent member as disclosed in JP-H11-304700-A andJP-2000-131231-A.

Typically, a windshield attached with the object detection apparatus hasa three-dimensional curved face in line with a designed shape of avehicle.

As to conventional object detection apparatuses, because a shape of thewindshield and a shape of contact face of the light guide member aredifferent, when the light guide member is attached to athree-dimensional curved face of the windshield, air bubble may intrudebetween the adhesive and the windshield, and/or between the adhesive andthe light guide member.

Further, as to conventional object detection apparatuses, because ashape of the windshield and a shape of contact face of the light guidemember are different, when the light guide member is attached to athree-dimensional curved face of the windshield, attachment work may notbe conducted efficiently.

SUMMARY

In one aspect of the present invention, a light guide member useable foran object detection apparatus is devised. The object detection apparatusincludes a light source unit, and a detection unit for detecting anobject adhered on a surface of a light translucent member based onchange of light quantity of reflection light received from the lighttranslucent member when light exiting from the light source unit isreflected from the light translucent member. The light guide memberincludes an incident face where the light exiting from the light sourceunit enters; a detection face where the exiting light exits to a rearface of the light translucent member and the reflection light reflectedfrom the light translucent member enters; an exiting face where thereflection light exits to the detection unit; and a light guidingportion through which the exiting light and the reflection lightproceed. The detection face has curvature corresponding to curvature ofthe light translucent member.

BRIEF DESCRIPTION OF THE DRAWINGS

A more complete appreciation of the disclosure and many of the attendantadvantages and features thereof can be readily obtained and understoodfrom the following detailed description with reference to theaccompanying drawings, wherein:

FIG. 1 is a schematic configuration of a vehicle equipped with an objectdetection apparatus according to an example embodiment;

FIG. 2 is a schematic configuration of the object detection apparatus ofFIG. 1;

FIG. 3 is a cross-sectional view of the object detection apparatus;

FIG. 4 is a cross-sectional view of configuration of another imagecapturing unit of the object detection apparatus;

FIG. 5 is a cross-sectional view of configuration of further anotherimage capturing unit of the object detection apparatus;

FIG. 6 is a schematic view of another light guide member of the objectdetection apparatus;

FIG. 7 is a cross-sectional view of another object detection apparatus;

FIG. 8 is a perspective view of a light guide member of the objectdetection apparatus;

FIG. 9 is a perspective view of a reflective deflection prism of theobject detection apparatus;

FIG. 10 is a cross-sectional view along a vehicle width direction beforeattaching the reflective deflection prism to a windshield of a vehicle;

FIG. 11 is a cross-sectional view along a vehicle width direction whenattaching the reflective deflection prism to a windshield of a vehicle;

FIG. 12 is a cross-sectional view along a vehicle width direction afterattaching the reflective deflection prism to a windshield of a vehicle;

FIG. 13 is a cross-sectional view along a vehicle width direction beforeattaching a reflective deflection prism of comparison example to awindshield of a vehicle;

FIG. 14 is a cross-sectional view along a vehicle width direction afterattaching the reflective deflection prism of comparison example to awindshield of a vehicle;

FIG. 15 is a cross-sectional view of the reflective deflection prism ofcomparison example;

FIG. 16 is a cross-sectional view along a vehicle width direction whenattaching the reflective deflection prism of comparison example to awindshield of a vehicle;

FIG. 17 is a cross-sectional view along a vehicle width direction whenattaching the reflective deflection prism of comparison example to awindshield of a vehicle;

FIG. 18 is a cross-sectional view along a vehicle width direction beforeattaching of a reflective deflection prism of another example embodimentto a windshield of a vehicle;

FIG. 19 is a cross-sectional view along a vehicle width direction afterattaching the reflective deflection prism of FIG. 18 to a windshield ofa vehicle;

FIG. 20 is a cross-sectional view along a vehicle width direction beforeattaching a reflective deflection prism of further another exampleembodiment to a windshield of a vehicle;

FIG. 21 is a cross-sectional view along a vehicle width direction afterattaching the reflective deflection prism of FIG. 20 to a windshield ofa vehicle;

FIG. 22 is a perspective view of a reflective deflection prism accordingto further another example embodiment;

FIG. 23 is a perspective view of a reflective deflection prism accordingto further another example embodiment;

FIG. 24 is a cross-sectional view of another object detection apparatushaving the reflective deflection prism of FIG. 23;

FIG. 25 is a graph of transmittance of a cut-filter and wavelength ofemission light of a light source unit;

FIG. 26 is a graph of transmittance of a band-pass filter and wavelengthof emission light of a light source unit;

FIG. 27 is a front view of an optical filter of the object detectionapparatus;

FIG. 28 is an example of image generated from captured image data usingthe object detection apparatus;

FIG. 29 is a cross-sectional view of the optical filter and an imagesensor;

FIG. 30 is a front view of the optical filter and the image sensor;

FIG. 31 is a graph of transmittance property of a light separationfilter layer of the optical filter;

FIG. 32 a view of a polarizer having a wire grid structure;

FIG. 33 is a graph of transmittance property of the light separationfilter layer;

FIG. 34 is an example captured image using the reflective deflectionprism of FIG. 23, in which a condition composed of adhering of raindropand no-adhering of fogging is captured;

FIG. 35 is an example captured image using the reflective deflectionprism of FIG. 23, in which a condition composed of adhering of raindropand adhering of fogging is captured;

FIG. 36 is one of two frames for detecting raindrop;

FIG. 37 is another one of two frames for detecting raindrop;

FIG. 38 is a flowchart showing the steps of a process of detectingconditions of a windshield conduct-able by the image analyzer;

FIG. 39 is a flowchart showing the steps of a process of detectingparameter for wiper control and defroster control from image data ofvehicle detection image area;

FIG. 40 is a view of fogged windshield;

FIG. 41 is a view of frozen windshield;

FIG. 42 is a flowchart showing the steps of a process of detectingparameter for wiper control and defroster control from the image data ofthe adhered object detection image area;

FIG. 43 is a flowchart showing the steps of a process of determiningconditions of a windshield.

FIG. 44 is a table having determination criteria for determiningconditions of a windshield;

FIG. 45 is a table having determination criteria determining conditionsof a windshield;

FIG. 46 is an example of table for wiper control and defroster control;

FIG. 47 is a block diagram of a vehicle equipped with an objectdetection apparatus according to another example embodiment; and

FIG. 48 is a cross-sectional view of a configuration of the objectdetection apparatus according to example embodiments.

The accompanying drawings are intended to depict exemplary embodimentsof the present invention and should not be interpreted to limit thescope thereof. The accompanying drawings are not to be considered asdrawn to scale unless explicitly noted, and identical or similarreference numerals designate identical or similar components throughoutthe several views.

DETAILED DESCRIPTION

A description is now given of exemplary embodiments of the presentinvention. It should be noted that although such terms as first, second,etc. may be used herein to describe various elements, components,regions, layers and/or sections, it should be understood that suchelements, components, regions, layers and/or sections are not limitedthereby because such terms are relative, that is, used only todistinguish one element, component, region, layer or section fromanother region, layer or section. Thus, for example, a first element,component, region, layer or section discussed below could be termed asecond element, component, region, layer or section without departingfrom the teachings of the present invention.

In addition, it should be noted that the terminology used herein for thepurpose of describing particular embodiments only and is not intended tobe limiting of the present invention. Thus, for example, as used herein,the singular forms “a”, “an” and “the” are intended to include theplural forms as well unless the context clearly indicates otherwise.Moreover, the terms “includes” and/or “including”, when used in thisspecification, specify the presence of stated features, integers, steps,operations, elements, and/or components, but do not preclude thepresence or addition of one or inure other features, integers, steps,operations, elements, components, and/or groups thereof.

Furthermore, although in describing views shown in the drawings,specific terminology is employed for the sake of clarity, the presentdisclosure is not limited to the specific terminology so selected and itis to be understood that each specific element includes all technicalequivalents that operate in a similar manner and achieve a similarresult. Referring now to the drawings, an apparatus or system accordingto an example embodiment is described hereinafter.

A description is now given of a light guide member according to anexample embodiment, and an object detection apparatus having the lightguide member with reference to the drawings.

(Object Detection Apparatus)

A description is now given of an object detection apparatus according toan example embodiment having a light guide member according to anexample embodiment. In this disclosure, the object detection apparatuscan be used for a vehicle-installed device control system, which is anexample of device control system for a movable apparatus that controlsdevices installed in a vehicle such as an automobile. The vehicle maynot be limited to any specific vehicles but may include various types ofvehicles such as automobiles, ship, robots or the like.

Further, the object detection apparatus can be applied other thanvehicle-installed device control system. For example, the objectdetection apparatus can be applied other systems that detect a targetobject adhered on a light translucent member based on captured image.

FIG. 1 is a schematic configuration of a vehicle installed with anobject detection apparatus according to an example embodiment. As shownin FIG. 1, a vehicle 100 such as automobiles includes, for example, anobject detection apparatus 101, an image analyzer 102, a headlightcontroller 103, a headlight 104, a windshield 105, a wiper controller106, and a wiper 107. Further, the vehicle 100 includes, for example, avehicle controller 108, a defroster controller 109, a defroster 110, anda temperature sensor 111.

As to the vehicle 100, based on image data of vehicle-front-area of thevehicle 100 (referred to image capturing area or a captured image area)captured by the object detection apparatus 101, lighting directioncontrol of the headlight 104, drive control of the wiper 107, operationcontrol of the defroster 110, and control of other devices installed ina vehicle.

The object detection apparatus 101 can capture views ofvehicle-front-area of the vehicle 100 as an image capturing area or acaptured image area. For example, the object detection apparatus 101captures a vehicle-front-area of the vehicle 100 when the vehicle 100 isrunning. The object detection apparatus 101 is, for example, disposednear a rear-view mirror and the windshield 105 of the vehicle 100.

Image data captured by the object detection apparatus 101 is input to animage analyzer 102, which can be used as a detection processing unit.

The image analyzer 102 analyzes the captured image data, transmittedfrom the object detection apparatus 101, in which the image analyzer 102can be used to compute information of other vehicle existing in a frontdirection of the vehicle 100 such as vehicle position, a point of thecompass (e.g., north, south, east, and west), and distance to othervehicles. Further, the image analyzer 102 can be used to detect anobject or substance adhered on the windshield 105 such as raindrops,foreign particles, or the like. Further, the image analyzer 102 can beused to detect a detection-target object existing on road surfaces suchas a lane (e.g., white line) or the like from the image capturing area.

The image analyzer 102 has a function to control an image captureoperation of the object detection apparatus 101, and a function toanalyze captured image data transmitted from the object detectionapparatus 101.

The image analyzer 102 has a function to set suitable exposing lightquantity (e.g., exposing time) or each of target objects captured by theimage sensor. The image analyzer 102 analyzes the captured image data,transmitted from the object detection apparatus 101, in which the imageanalyzer 102 can be used to compute suitable exposing light quantity foreach of target objects captured by an image sensor such as other vehicleexisting in a front direction of the vehicle 100, raindrop, frozenportion and fogging adhered on the windshield 105.

Further, the image analyzer 102 has a function adjust light emissiontiming of a light source unit by linking with adjustment of exposinglight quantity.

The analysis result of the image analyzer 102 can be transmitted to theheadlight controller 103, the wiper controller 106, the vehiclecontroller 108 and the defroster controller 109.

The headlight controller 103 controls the headlight 104 to prevent aprojection of high intensity light of headlight of the vehicle 100 toeyes of drivers of front-running vehicles and oncoming vehicles, bywhich the drivers of other vehicles are not dazzled by light coming fromthe headlight of the vehicle 100 while providing the enough field ofview for the driver of vehicle 100.

Specifically, for example, a switching control of high beam/low beam ofthe headlight 104 is conducted, and a light-dimming control is partiallyconducted for the headlight 104 to prevent a projection of highintensity light of headlight of the vehicle 100 to eyes of drivers offront-running vehicles and oncoming vehicles, by which the drivers ofother vehicles are not dazzled by light coming from the headlight of thevehicle 100 while providing the enough field of view for the driver ofvehicle 100.

The wiper controller 106 controls the wiper 107 to remove an adheredobject or substance adhered on the windshield 105 such as raindrops,foreign particles, or the like from the windshield 105 of the vehicle100. The wiper controller 106 generates control signals to control thewiper 107 upon receiving the detection result of foreign particles fromthe image analyzer 102.

When the control signals generated by the wiper controller 106 aretransmitted to the wiper 107, the wiper 107 is activated to provide thefield of view for the driver of the vehicle 100.

The vehicle controller 108 controls the driving of the vehicle 100 basedon a detection result of road end and white line detected by the imageanalyzer 102. If the vehicle 100 deviates or departs from the vehiclelane, defined by the lane (e.g., white line) and road end, based on thedetection result of the lane detected by the image analyzer 102, thevehicle controller 108 activates an alarm or warning to the driver ofthe vehicle 100, and activates a cruise control system such ascontrolling of a steering wheel and/or brake of the vehicle 100.

Further, based on a detection result of road traffic signs detected bythe image analyzer 102, the vehicle controller 108 can compareinformation of road traffic signs and vehicle running conditions. Forexample, if the vehicle controller 108 determines that a driving speedor vehicle running conditions of the vehicle 100 is close to a speedlimit (information of road traffic signs), the vehicle controller 108activates a cruise control system such as alarming or warning to thedriver of the vehicle 100, and if the vehicle controller 108 determinesthat a driving speed of the vehicle 100 exceeds a speed limit, thevehicle controller 108 activates a cruise control system such ascontrolling of a brake of the vehicle 100.

The defroster controller 109 controls the defroster 110. Specifically,based on a detection result of the windshield 105 such as frozen andfogging conditions, the defroster controller 109 generates controlsignals for controlling the defroster 110. Upon receiving the controlsignals generated by the defroster controller 109, the defroster 110sends air to the windshield 105 and heats the windshield 105 based onthe control signals to the windshield 105 so that frozen or foggingconditions are removed.

Further, the vehicle 100 is provided with a temperature sensor 111 todetect ambient temperature. The image analyzer 102 uses a detectionresult of the temperature sensor 111 as required to conduct the abovedescribed Various processing. In an example embodiment, a detectionresult of the temperature sensor 111 can be used to detect whether thewindshield 105 is frozen, which will be described later.

FIG. 2 is a schematic configuration of the object detection apparatus101, and FIG. 3 is a cross-sectional view of the object detectionapparatus 101. As illustrated in FIG. 2 and FIG. 3, the object detectionapparatus 101 includes, for example, a capture lens 204, an opticalfilter 205, an image sensor 206, a sensor board 207, a signal processor208, a light source unit 210, a reflective deflection prism 220, and anintervening member 300.

In an example embodiment shown in FIG. 2, the optical axis of thecapture lens 204 is disposed in the object detection apparatus 101 byaligning the optical axis of the capture lens 204 to the horizontaldirection, but not limited hereto, but the optical axis of the capturelens 204 can be set to a given direction with respect to the horizontaldirection (X direction in FIG. 2) used as the reference direction.

The capture lens 204 can be configured with, for example, a plurality oflenses, and has a focal position set at a position far from thewindshield 105. The focal position of the capture lens 204 can be set,for example, at infinity or between infinity and the windshield 105.

The optical filter 205 is disposed after the capture lens 204 to limitor regulate a wavelength range of light entering the image sensor 206.

The optical filter 205 is used to suppress an effect of ambient lightcoming from the outside of the vehicle when detecting the condition ofthe windshield 105 using a reflection light, generated by reflection oflight emitted from the light source unit 210. If the conditions of thewindshield 105 can be detected with good enough detection precision, theoptical filter 205 can be omitted.

The image sensor 206 is an image capturing device having a pixel arrayarranged two-dimensionally, and the image sensor 206 can be used as adetection unit of the object detection apparatus. The image sensor 206is composed of a plurality of light receiving elements arrangedtwo-dimensionally to receive light passing through the optical filter205, and each light receiving elements (or image capturing pixel) has afunction of photoelectric conversion of incident light.

For example, the image sensor 206 is composed of about several hundredsof thousands of pixels arranged two-dimensionally. The image sensor 206is a sensor employing, for example, a charge coupled device (CCD), acomplementary metal oxide semiconductor (CMOS), or the like.

Light coming from the image capturing area, including an object (ordetection-target object), passes the capture lens 204 and the opticalfilter 205, and then the image sensor 206 photo electrically convertsthe received light to electrical signals based on the light quantity.When the signal processor 208 receives electrical signals such as analogsignals (i.e., quantity of incident light to each of light receivingelements of the image sensor 206) output from the sensor board 207, thesignal processor 208 converts the analog signals to digital signals tobe used as captured image data.

The signal processor 208 is electrically connected with the imageanalyzer 102. Upon receiving the electrical signals (analog signals)from the image sensor 206 via the sensor board 207, the signal processor208 generates digital signals (captured image data), based on thereceived electrical signals, indicating luminance data for each imagecapturing pixel of the image sensor 206.

The signal processor 208 outputs the captured image data to a laterstage unit such as the image analyzer 102 with horizontal/verticalsynchronization signals of image.

The light source unit 210 is disposed on the sensor board 207. The lightsource unit 210 irradiates light to detect foreign particles adhered ona surface of the windshield 105 (e.g., raindrops, frozen, fogging). Inthis description, raindrop is used as an example of adhered foreignparticles to be detected.

The light source unit 210 includes a plurality of light emittingelements such as light emitting diodes (LED) but not limited hereto. Bydisposing a plurality of light emitting elements, a detection area offoreign particles on the windshield 105 can be enlarged, and detectionprecision of condition change of the windshield 105 can be enhancedcompared to using one light emitting element.

The light source unit 210 is composed of for example, one or more lightemitting diodes (LED) or laser diodes (LD).

In an example embodiment, the light source unit 210 and the image sensor206 are installed on the same sensor board 207, with which the number ofboards can be reduced compared to installing the light source unit 210and the image sensor 206 on different boards, with which less expensivecost can be achieved.

Further, as to the light source unit 210, a plurality of light emittingpoints can be arranged one row or a plurality of rows along the Ydirection in FIG. 2. With this arrangement, the light used for capturingan image on the windshield 105, which is below an image area fordisplaying an image captured for a front direction of the vehicle 100,can be set as uniform light.

The light source unit 210 is disposed on the sensor board 207 to set agiven angle between the optical axis direction of the light emitted fromthe light source unit 210 and the optical axis direction of the capturelens 204. Further, the light source unit 210 is disposed at a positionto set an irradiation area on the windshield 105 illuminated by thelight emitted from the light source unit 210 is corresponded to a rangeof field angle (or a range of viewing angle) of the capture lens 204.

The light source unit 210 is composed of, for example, one or more lightemitting diodes (LED) or laser diodes (LD). The emission wavelength ofthe light source unit 210 is preferably light other than the visiblelight so that drivers of oncoming vehicles and foot passengers are notdazzled. For example, light that has a wavelength window longer than awavelength window of the visible light and can be sensed by the imagesensor 206 is used. For example, infrared light having the wavelengthwindow of 800 nm to 1000 nm can be used. The drive control of the lightsource unit 210 such as emission timing control may be conducted usingthe image analyzer 102 while linked with obtaining of image signals fromthe signal processor 208.

Conditions of reflection light reflected on the windshield 105 changedepending on the condition change of the windshield 105 (e.g., raindropsadhered on the outer face of the windshield 105, frozen portion thatevening dew is frozen, fogging on the inner face of the windshield 105due to moisture).

The condition change of reflection light can be determined by analyzingthe captured image captured by the image sensor 206 via the opticalfilter 205.

As to the object detection apparatus 101, by aligning the optical axisof the LED 211 of the light source unit 210 and a normal direction ofthe image sensor 206 to the normal direction of the same sensor hoard207, the manufacturing process can be simplified.

However, because the light irradiation direction of the light sourceunit 210 and the image capturing direction of the image sensor 206(i.e., optical axis direction of the capture lens 204) are differentdirections, it is difficult to dispose the light source unit 210 and theimage sensor 206 on the same sensor board 207 while setting differentdirections for the light irradiation direction of the light source unit210 and the image capturing direction of the image sensor 206.

Therefore, when the LED of the light source unit 210 and the imagesensor 206 of the object detection apparatus 101 are disposed on thesame sensor board 207, for example, a light path changing member such asa tapered light guide 215, to be describe later, can be disposed on thelight source unit 210 to change a light path of light emitted from theLED 211.

FIG. 4 is a cross-sectional view of configuration of another imagecapturing unit, and FIG. 5 is a cross-sectional view of configuration offurther another image capturing unit. The light path changing member is,for example, a deflection prism 213 as illustrated in FIG. 4, and acollimator lens 212 disposed eccentrically as illustrated in FIG. 5.

When the collimator lens 212 is used, the number of the collimator lens212 is required to be the same of the number of the LED 211, in which alens array arranging the collimator lenses 212 in a straight line alongthe Y direction can be used.

FIG. 6 is a schematic view of another light guide member of the objectdetection apparatus 101, which can be used as the light path changingmember. In FIG. 6, a tapered rod lens 214 is disposed at the exit sideof a plurality of LEDs 211 installed on the sensor board 207.

With this configuration, the light emitted from the LED 211 reflects onthe inner face of the tapered rod lens 214 while passing through thetapered rod lens 214, and the light exits from the tapered rod lens 214while setting the light substantially parallel to the optical axisdirection of the LED 211.

Therefore, by disposing the tapered rod lens 214, a radiation anglerange of light can be set small for the object detection apparatus 101.

Further, the exit side of the tapered rod lens 214 is disposed with atapered light guide 215 that can direct the light emitted from the lightsource unit 210 to a desired direction. As for the configuration of FIG.6, the light having a narrower illumination range and uniform light canbe irradiated to a desired direction.

Therefore, as to the object detection apparatus 101, image or conditionsof the windshield 105 can be detected with high precision, and theprocessing load such as correction of uneven brightness can be reduced.

As described above, as to the object detection apparatus 101, the lightsource unit 210 and the image sensor 206 are installed on the samesensor board 207, but the light source unit 210 and the image sensor 206can be installed on different boards.

As illustrated in FIG. 3, the object detection apparatus 101 includes anoptical member such as a reflective deflection prism 220 having areflection face 221, wherein the reflective deflection prism 220 can beused as the light guide member for the present invention. The lightemitted from the light source unit 210 can be reflected at thereflection face 221 and then guided to the windshield 105.

The reflective deflection prism 220 has one face attached firmly to theinner face of the windshield 105 using the intervening member 300 sothat the light emitted from the light source unit 210 can be guided tothe windshield 105 effectively.

The reflective deflection prism 220 is attached to the inner face (firstface) of the windshield 105 with a condition to maintain that a regularreflection light reflected regularly at a non-adhering area, where thedetection target object such as raindrop does not adhere, on the outerface (second face) of the windshield 105 can be received by the imagesensor 206 even when the incident angle of the light of the light sourceunit 210 entering the reflective deflection prism 220 changes within agiven range.

Further, the refractive index of the intervening member 300 ispreferably between the refractive index of the reflective deflectionprism 220 and the refractive index of the windshield 105 to reduceFresnel reflection loss between the intervening member 300 and thereflective deflection prism 220, and between the intervening member 300and the windshield 105 for the object detection apparatus 101. TheFresnel reflection is a reflection that occurs between materials havingdifferent refractive indexes.

Further, as illustrated in FIG. 3, the reflective deflection prism 220regularly reflects an incident light from the light source unit 210 forone time at the reflection face 221 to direct the reflection light tothe inner face of the windshield 105. The reflection light can beconfigured to have an incidence angle θ (e.g., θ≧ about 42 degrees) withrespect to the outer face of the windshield 105.

This incidence angle θ is a critical angle that causes a totalreflection on the outer face (second face) of the windshield 105 basedon a difference of refractive indexes between air and the outer face ofthe windshield 105.

Therefore, when foreign particles such as raindrops do not adhere on theouter face (second face) of the windshield 105, the reflection lightreflected at the reflection face 221 of the reflective deflection prism220 does not pass through the outer face (second face) of the windshield105 but totally reflected at the outer face (second face) of thewindshield 105.

In contrast, when foreign particles such as raindrops having refractiveindex of 1.38, different from air having refractive index of 1, adhereon the outer face of the windshield 105, the total reflection conditiondoes not occur, and the light passes through the outer face of thewindshield 105 at a portion where raindrops adhere.

Therefore, the reflection light reflected at a non-adhering portion ofthe outer face of the windshield 105 where raindrop does not adhere canbe received by the image sensor 206 as an image having high intensity orluminance. In contrast, the quantity of the reflection light decreasesat an adhering portion of the outer face of the windshield 105 whereraindrop adheres, and thereby the light quantity received by the imagesensor 206 decreases, and the reflection light received by the imagesensor 206 becomes an image having low intensity or luminance.Therefore, a contrast between the raindrop-adhering portion and theraindrop-non-adhering portion on the captured image can be obtained,with which raindrop can be detected.

FIG. 7 is a cross-sectional view of another object detection apparatus.As illustrated in FIG. 7, a light block member 230 can be disposedbetween the light source unit 210 and the capture lens 204 to preventintrusion of diffused light component of the light source unit 210 tothe image sensor 206. If the diffused light enters the image sensor 206,image signals may deteriorate.

FIG. 8 is a perspective view of the tapered light guide 215 used as thelight path changing member 215 of the object detection apparatus 10. Asillustrated in FIG. 8, the light path changing member 215 can includethe taper rod lens 214 at the side of the light source unit 210.

The taper rod lens 214 is disposed for LEDs as one-to-one relationshipwith LEDs (i.e., one taper rod lens for one LED). The taper rod lens 214may include a micro tube having an inner face as a reflection face.

The taper rod lens 214 is tapered from an incident face side to an exitface side such as the exit face side is greater than the incident faceside. The taper rod lens 214 is preferably made of materials having arefractive index of one or more, for example, resin or glass. The taperrod lens 214 can be manufactured with less expensive cost by integrallyforming resin using the molding process.

(Configuration of Reflective Deflection Prism)

FIG. 9 is a perspective view of the reflective deflection prism 220 ofthe object detection apparatus 101. As illustrated in FIG. 9, thereflective deflection prism 220 includes, for example, an incidence face223, a reflection face 221, a contact face 222, an exit face 224, and alight guiding portion. The exiting light and reflection light proceed inthe light guiding portion. The reflective deflection prism 220 can beused as the light guide member for the present invention.

In a configuration of FIG. 9, the incidence face 223 and the exit face224 are configured as parallel faces with each other, but the incidenceface 223 and the exit face 224 are configured as non-parallel faces.

The light L1 emitting from the light source unit 210 enters theincidence face 223 via the taper rod lens 214 and the light pathchanging member 215.

The light L1 entering from the incidence face 223 is reflected on thereflection face 221.

The contact face 222 is attached firmly to the inner face of thewindshield 105, and the contact face 222 can be used as the detectionface of the light guide member for the present invention.

The light L1 emitted from the light source unit 210 and reflected by thewindshield 105 passes an area of the contact face 222 as reflectionlight L3, which is to enter the image sensor 206. The area of thecontact face 222 where the reflection light L3 passes is referred to asa detection area.

The reflection light L3 reflected at the outer face of the windshield105 exits from the exit face 224 toward the object detection apparatus101.

The reflective deflection prism 220 can be made of materials that canpass through the light coming from the light source unit 210 such asglass, plastic, or the like.

If the light coming from the light source unit 210 is infrared light,the reflective deflection prism 220 can be made of materials of darkcolor that can absorb visible lights. By employing materials that canabsorb the visible light, it can reduce the intrusion of light (e.g.,visible light from outside), which is other than the light coining froma LED (e.g., infrared light), to the reflective deflection prism 220.

(Shape of Contact Face of Reflective Deflection Prism (1))

A description is given of a shape of the contact face 222 of thereflective deflection prism 220, and attachment of the reflectivedeflection prism 220 to the windshield 105.

FIG. 10 is a cross-sectional view along a vehicle width direction beforeattaching the reflective deflection prism 220 to the windshield 105 ofthe vehicle 100. FIG. 10 is a cross-sectional view of the windshield 105along a vehicle width direction before attaching the reflectivedeflection prism 220 to the windshield 105.

As illustrated in FIG. 10, the windshield 105 of the vehicle 100 isdesigned as a curved member. Therefore, an inner face of the windshield105 is a concave face having curvature along a vehicle width direction.

As to the shape of the reflective deflection prism 220, a shape of thecontact face 222 facing the windshield 105 is described in detail, andother shape may be simply referred.

The contact face 222 is a convex face having curvature corresponding tothe curvature of the windshield 105. The contact face 222 is pasted withthe intervening member 300 in advance. The reflective deflection prism220 having the contact face 222 pasted with the intervening member 300in advance can be attached to the windshield 105 in the normal linedirection N.

By conducting vacuum degassing to the contact face 222 pasted with theintervening member 300, air bubble that has intruded between the contactface 222 and the intervening member 300 during the pasting of theintervening member 300 can be removed.

Further, the contact face 222 and the intervening member 300 can bepasted in vacuum to obtain the same effect vacuum degassing.

Material of the intervening member 300 can use sheet type adhesivematerial such as silicone and urethane. By using the sheet type adhesivematerial as the material of the intervening member 300, an applicationtool, which is required when bonding agent is used, can be omitted andthereby curing process can be omitted. Therefore, by using the sheettype adhesive material as the material of the intervening member 300,efficiency of attachment work can be enhanced by reducing the number ofprocesses.

Further, material of the intervening member 300 can use bonding agent.By using bonding agent as the material of the intervening member 300,thickness of the intervening member 300 can be set uniform. Therefore,by using the bonding agent as the material of the intervening member300, tilt deviation of position of the reflective deflection prism 220due to shrink of bonding agent by curing and temperature fluctuation canbe reduced, with which the object detection apparatus 101 having higherrobustness can be provided.

FIG. 11 is a cross-sectional view along a vehicle width direction whenattaching the reflective deflection prism 220 to the windshield 105 ofthe vehicle 100. As illustrated in FIG. 11, because the contact face 222of the reflective deflection prism 220 is a convex face having curvaturecorresponding to the curvature of the windshield 105, the interveningmember 300 pasted to the contact face 222 has a shape in line with thecontact face 222.

FIG. 12 is a cross-sectional view along a vehicle width direction afterattaching the reflective deflection prism 220 to the windshield 105 ofthe vehicle 100. As illustrated in FIG. 12, because the contact face 222is the convex face having the curvature corresponding to the curvatureof the windshield 105, curvature difference between a prism-attachmentface of the windshield 105 and the contact face 222 of the reflectivedeflection prism 220 can be smaller.

Therefore, as to the reflective deflection prism 220, even ifdeformation amount of the intervening member 300 during the attachmentis small, the reflective deflection prism 220 can be attached to thewindshield 105 without a space between the windshield 105 and theintervening member 300. Therefore, as to the reflective deflection prism220, even if the reflective deflection prism 220 is attached to thewindshield 105 having the curvature, detection performance of the objectdetection apparatus 101 can be improved, in which detection performanceof the object detection apparatus 101 can be secured at good enoughlevel.

An attachment angle θ (FIG. 10) of the reflective deflection prism 220to the windshield 105 becomes different depending on the curvature ofthe windshield 105. Further, the curvature of the windshield 105 becomesdifferent depending on an attachment position of the reflectivedeflection prism 220 and types of vehicle.

The attachment angle θ (FIG. 10) of the reflective deflection prism 220to the windshield 105 is set different values depending on theattachment position of the reflective deflection prism 220 and types ofvehicle.

(Shape of Contact Face of Reflective Deflection Prism of ComparisonExample)

A description is given of a shape of a contact face of a reflectivedeflection prism, and attachment of the reflective deflection prism tothe windshield 105 of comparison example.

FIG. 13 is a cross-sectional view along a vehicle width direction beforeattaching a reflective deflection prism 220A, which is a comparisonexample, to the windshield 105 of the vehicle 100. Different from theabove described reflective deflection prism 220, as illustrated in FIG.13, the reflective deflection prism 220A has a contact face 222A of flatface having no curvature. The reflective deflection prism 220A pastedwith the intervening member 300 in advance can be attached to thewindshield 105 in the normal line direction N.

FIG. 14 is a cross-sectional view along a vehicle width direction afterattaching the reflective deflection prism 220A to the windshield 105 ofthe vehicle 100, and FIG. 15 is a cross-sectional view of the reflectivedeflection prism 220A.

As illustrated in FIGS. 14 and 15, when the contact face 222A having nocurvature in the reflective deflection prism 220A is attached to thewindshield 105, space 301 occurs between the windshield 105 and theintervening member 300.

In this configuration of comparison example, the reflective deflectionprism 220A can be pressed to the normal line direction N of thewindshield 105 by deforming the intervening member 300 to reduce thespace 301. However, the space 301 cannot be removed completely.

Further, as to this configuration of comparison example, even if thespace 301 may not be recognized by human eyes, air bubble not recognizedby human eyes may expand under high temperature, with which the space301 recognizable by human eyes may occur.

When the space 301 occurs, light is scattered by the space 301. In thiscase, reflection occurs on the contact face 222A used as a detectionface of adhered object due to the space 301, with which reflection lightdoes not enter the image sensor 206, and an object adhered on a surfaceof the windshield 105 cannot be detected.

FIG. 16 is a cross-sectional view along a vehicle width direction whenattaching the reflective deflection prism 220A to the windshield 105 ofthe vehicle 100. As illustrated in FIG. 16, by attaching the reflectivedeflection prism 220A to the windshield 105 with an attachment angle θdegree slanted from the normal line direction N of the windshield 105,the intervening member 300 can contact the windshield 105 from one endof the intervening member 300.

FIG. 17 is a cross-sectional view along a vehicle width direction whenattaching the reflective deflection prism 220A to the windshield 105 ofthe vehicle 100. As illustrated in FIG. 17, when an intervening memberhaving higher flexibility is used for the intervening member 300, theintervening member 300 can be deformed easily by pressure. In thisconfiguration, by attaching the reflective deflection prism 220A to thewindshield 105 by deforming the intervening member 300 from the one endof the intervening member 300, occurrence of the space 301 between thewindshield 105 and the intervening member 300 can be suppressed.

However, because the attachment angle θ and pressure level is difficultto control when attaching the intervening member 300 to the windshield105 with the attachment angle θ slanted from the normal line direction Nof the windshield 105, it is very difficult to remove the space 301completely.

Further, if material of lower flexibility is used for the interveningmember 300, deformation amount becomes smaller, with which it is furthervery difficult to remove the space 301 completely.

Further, an area of the intervening member 300 used for attachment ofthe contact face 222A is required to be greater to enlarge a detectionarea of adhered object. In this case, the greater the area of theintervening member 300, the greater the effect of curvature of thewindshield 105, with which the space 301 may more likely occur.

(Shape of Contact Face of Reflective Deflection Prism (2))

A description is given of a shape of a contact face of a reflectivedeflection prism, and attachment of the reflective deflection prism tothe windshield 105 of another example embodiment.

FIG. 18 is a cross-sectional view along a vehicle width direction beforeattaching a reflective deflection prism 220B of another exampleembodiment to the windshield 105 of the vehicle 100. As illustrated inFIG. 18, as to the reflective deflection prism 220B, curvature A of thecontact face 222B (convex face) can be set equal to curvature B of theprism-attachment face of the windshield 195 (concave face) or less,which means |curvature A|≦|curvature B|.

FIG. 19 is a cross-sectional view along a vehicle width direction afterattaching the reflective deflection prism 220B of another exampleembodiment to the windshield 105 of the vehicle 100. As illustrated inFIG. 19, as to the reflective deflection prism 220B, the windshield 105and the intervening member 300 can be effectively and securely attachednear the center of the contact face 222B without an effect of theattachment angle θ (FIG. 10) to the windshield 105.

A detection area of adhered object by the object detection apparatus 101is typically an area near the center of the contact face 222B of thereflective deflection prism 220B. Therefore, even if the space 301occurs to a portion other than the center of the contact face 222B(e.g., both ends of vehicle width direction) after attaching thereflective deflection prism 220B to the windshield 105, detectionsensitivity of the object detection apparatus 101 is not affected by thespace 301.

As to the reflective deflection prism 220B, by setting the curvature Aof the contact face 222B smaller than the curvature B of the windshield105, the reflective deflection prism 220B can be effectively andsecurely contacted to the windshield 105 near the center of the contactface 222B (convex face).

Further, as to the reflective deflection prism 220B, an intrusion of airbubble to the center of the contact face 222B, used as the detectionarea of adhered object, can be suppressed, and even if air bubbleintrudes, air bubble can be removed or released by applying pressure.

Therefore, by attaching the reflective deflection prism 220B to thewindshield 105 as above described, deterioration of a given detectionsensitivity set by attaching the reflective deflection prism 220B to thewindshield 105 can be prevented.

(Shape of Contact Face of Reflective Deflection Prism (3))

A description is given of a shape of a contact face of a reflectivedeflection prism, and attachment of the reflective deflection prism tothe windshield 105 of further another example embodiment.

FIG. 20 is a cross-sectional view along a vehicle width direction beforeattaching a reflective deflection prism 220C of further another exampleembodiment to the windshield 105 of the vehicle 100. As illustrated inFIG. 20, a shape of a contact face 222C of the reflective deflectionprism 220C (convex face) matches or substantially matches a shape of aconcave face (i.e., internal face) of the windshield 105.

FIG. 21 is a cross-sectional view along a vehicle width direction afterattaching the reflective deflection prism 220C to the windshield 105 ofthe vehicle 100. As illustrated in FIG. 21, because a shape of thecontact face 222C (i.e., convex face) matches or substantially matches ashape of a concave face (i.e., prism-attachment face) of the windshield105, the intervening member 300 pasted to the contact face 222C can bematched to the shape of the windshield 105.

As to the above reflective deflection prism 220C, because thickness ofthe intervening member 300 can become even, a space may not occurbetween the windshield 105 and the intervening member 300 for anyattachment angle θ to the windshield 105.

Further, as to the reflective deflection prism 220C, an intrusion of airbubble to the center of the contact face 222C, used as the detectionarea of adhered object, can be suppressed, and even if air bubbleintrudes, air bubble can be removed or released by applying pressure.

Therefore, as to the reflective deflection prism 220C, the objectdetection apparatus 101 having higher detection sensitivity can bedevised,

(Configuration of Reflective Deflection Prism (2))

FIG. 22 is a perspective view of a reflective deflection prism 224Daccording to further another example embodiment. As illustrated in FIG.22, the reflective deflection prism 220D has a reflection face 225shaped in a concave face. By using the concaved reflection face 225,diffused light entering the reflection face 225 can be set parallellight in the reflective deflection prism 220D. With this configurationof the reflective deflection prism 220D, the reduction of lightluminance on the windshield 105 can be suppressed.

(Configuration of Reflective Deflection Prism (3))

FIG. 23 is a perspective view of a reflective deflection prism 224Eaccording to further another example embodiment. FIG. 24 is across-sectional view of another object detection apparatus having thereflective deflection prism 220E of FIG. 23.

The reflective deflection prism 220E can be used to detect raindropadhered on the outer face (i.e., second face) of the windshield 105 andalso to detect fogging adhered on the inner face (i.e., first face) ofthe windshield 105 using the light coming from the light guide member215.

Similar to the above described the reflective deflection prism 220, asto the reflective deflection prism 220E, the light corresponding to thecenter portion of the reflective deflection prism 220E coming from ofthe light path changing member 215 enters the incidence face 223. Then,the light reflects regularly on the reflection face 221, and totallyreflects on a portion where raindrop does not adhere on the outer faceof the windshield 105, and the reflected light is then received by theimage sensor 206.

In contrast, the light corresponding to both end portions of the Y-axisdirection of the reflective deflection prism 220E does not enter theincidence face 223, but totally reflects on a reflection mirror face 226of the reflective deflection prism 220E as a total reflection light L4.The total reflection light L4 is then directed to the inner face of thewindshield 105. If fogging or the like does not adhere on the inner faceof the windshield 105, the total reflection light L4 reflects on theinner face of the windshield 105 as a regular reflection light L5.

In this configuration, the reflective deflection prism 220E is disposedso that the regular reflection light L5 is not always received by theimage sensor 206.

As to the object detection apparatus 101E, if fogging adheres on theinner face of the windshield 105, the total reflection light L4 isdiffusingly reflected at the fogging portion, and the diffusedreflection light is received by the image sensor 206.

Therefore, as to the object detection apparatus 101E, if an area of theimage sensor 206 corresponding to the reflection mirror face 226receives light having a given level of light quantity or more, it can bedetermined that the diffused reflection light caused by fogging isreceived by the image sensor 206, with which the fogging of the innerface of the windshield 105 can be detected.

As to the reflective deflection prism 220E, the prism portion having thereflection face 221 used for detecting raindrop, and the mirror portionhaving the reflection mirror face 226 used for detecting fogging areformed as one integrated unit, but can be formed as separate parts.

Further, as to the reflective deflection prism 220E, the mirror portionsare disposed at both sides of the prism portion as illustrated in FIG.23, but not limited hereto. For example, as to the light guide member ofthe present invention, the mirror portion can be disposed at only oneside of the prism portion, or at an upper or bottom of die prismportion.

(Configuration of Optical Filter)

A description is given of the optical filter 205 of the object detectionapparatus 101.

As to the object detection apparatus 101, when detecting raindrop on theouter face of the windshield 105, the object detection apparatus 101captures infra-red light reflected from the windshield 105, in which theimage sensor 206 receives the infra-red light emitted from the lightsource 210, and also ambient light coming as sun light includinginfra-red light having greater light quantity.

To reduce the effect of the ambient light having greater light quantityto the infra-red light coming from the light source 210, the lightemission quantity of the light source 210 is required to be set greaterthan that of the ambient light. However, it is difficult to devise thelight source 210 having the greater light emission quantity.

FIG. 25 is a graph of transmittance of a cut-filter and wavelength ofemission light of the light source unit 210. Further, FIG. 26 is a graphof transmittance of a hand-pass filter and wavelength of emission lightof the light source unit 210.

In view of the above described effect of the ambient light, as to theobject detection apparatus 101, a suitable cut-filter or a band-passfilter can be used. As illustrated in FIG. 25, a cut-filter that cutslight having a wavelength smaller than a wavelength of emission light ofthe light source unit 210 can be used. Further, as illustrated in FIG.26, a band-pass filter that passes through light having a specificwavelength of emission light of the light source unit 210 can be used,in which the peak of transmittance of the band-pass filter issubstantially matched to the wavelength of emission light of the lightsource unit 210.

The image sensor 206 can effectively receive light emitted from thelight source 210 using the cut-filter or band-pass filter. By using thecut-filter or band-pass filter, light having a wavelength different fromthe wavelength of light emitted from the light source unit 210 can beremoved. Therefore, the image sensor 206 can receive the light emittedfrom the light source unit 210 with quantity relatively greater thanquantity of the ambient light.

Therefore, without using the light source unit 210 having greater lightemission intensity, the light emitted from the light source unit 210 canbe effectively received by the image sensor 206 while reducing theeffect of the ambient light.

As to the object detection apparatus 101, raindrop on the windshield 105is detected based on the captured image data, and furthermore, thefront-running vehicle and the oncoming vehicle are detected, and thelane (e.g., white line) is also detected based on the captured imagedata.

Therefore, if the light having a wavelength other than a wavelength ofinfra-red light emitted from the light source unit 210 is removed froman entire image, the image sensor 206 cannot receive light having awavelength required to detect the front-running vehicle/oncoming vehicleand the lane, with which the detection of vehicle/oncoming vehicle andthe lane cannot be conducted effectively.

In view of such issue, as to the object detection apparatus 101, animage area of captured image data is segmented to one detection imagearea used as an adhered substance detection image area, and anotherdetection image area used as a vehicle detection image area. The adheredsubstance detection image area can be used to detect the raindrop 203adhered on the windshield 105. The vehicle detection image area can beused to detect the front-running vehicle/oncoming vehicle, and the lane(e.g., white line).

Therefore, as to the object detection apparatus 101, the optical filter205 includes a filter that can remove light having a wavelength band,which is other than infra-red light emitted from the light source 210,and the filter is disposed for the optical filter 205 only for theadhered substance detection image area.

FIG. 27 is a from view of the optical filter 205 of the object detectionapparatus 101. As illustrated in FIG. 27, the optical filter 205includes a vehicle detection filter 205A corresponded to a vehicledetection image area 231, and an adhered substance detection filter 205Bcorresponded to an adhered substance detection image area 232,

FIG. 28 is an example of image generated from captured image data usingthe object detection apparatus 101. As illustrated in FIG. 28, thevehicle detection image area 231 may be an upper two-thirds (⅔) of oneimage capturing area. The adhered substance detection image area 232 maybe a lower one-third (⅓) of one image capturing area, in which the imagecapturing area can be segmented into an upper part and a lower part.

Typically, an image of headlight of the oncoming vehicle, an image oftail lamp of the front-running vehicle, an image of the lane (e.g.,white line) and road traffic signs are present at the upper part of theimage capturing area (i.e., vehicle-front area) while an image of roadsurface, which exists in the front-direction and very close to thevehicle 100, and a bonnet of the vehicle 100 are present at the lowerpart of the image capturing area. Therefore, information required torecognize or identify the headlight of the oncoming vehicle, the taillamp of the front-running vehicle, and the lane is present mostly in theupper part of the image capturing area, and thereby information presentin the lower part of the image capturing area may not be relevant forrecognizing the oncoming vehicle, the front-running vehicle, and thelane.

Therefore, when an object detection process such as detecting theoncoming vehicle, the front-running vehicle, and/or the lane, and anadhered object detection such as raindrop 203 are to be conductedconcurrently based on one captured image data, as illustrated in FIG.28, the lower part of the image capturing area is corresponded to theadhered substance detection image area 232, and the upper part of theimage capturing area is corresponded to the vehicle detection image area231. The optical filter 205 is preferably segmented into the vehicledetection filter 205A corresponding to the vehicle detection image area231, and the adhered object detection filter 205B corresponded to theadhered substance detection image area 232.

Further, when the image capturing direction is moved to a downwarddirection, a hood or bonnet of the vehicle 100 may appear at the lowerpart of the image capturing area. In such a case, sun light or the taillamp of the front-running vehicle reflected on the hood of the vehicle100 becomes ambient light. If the ambient light is included in thecaptured image data, the headlight of the oncoming vehicle, the taillamp of the front-running vehicle, and the lane may not be recognizedcorrectly.

In the object detection apparatus 101, because the cut-filter or theband-pass filter can be disposed at a position corresponding to thelower part of the image capturing area, the ambient light such as sunlight, and the light of tail lamp of the front-running vehicle reflectedfrom the hood can be removed. Therefore, the recognition precision ofthe headlight of the oncoming vehicle, the tail lamp of the front-mimingvehicle, and the lane can be enhanced.

As illustrated in FIG. 27, the optical filter 205 includes the vehicledetection filter 205A corresponded to the vehicle detection image area231, and the adhered object detection filter 205B corresponded to theadhered object detection image area 232, and the vehicle detectionfilter 205A and the adhered object detection filter 205B have differentlayer structures.

Specifically, the vehicle detection filter 205A does not include a lightseparation filter layer 251, but the adhered object detection filter205B includes the light separation filter layer 251.

Further, in the example embodiment, due to the optical property of thecapture lens 204, the upside downside of an image in the image capturingarea and the upside/downside of an image in the image sensor 206 becomesopposite. Therefore, if the lower part of the image capturing area isused as the adhered object detection image area 232, the upper part ofthe optical filter 205 may be configured as the adhered object detectionfilter 205B.

The detection of the front-running vehicle can be conducted byrecognizing the tail lamp of the front-running vehicle in the capturedimage. Compared to the headlight of the oncoming vehicle, the lightquantity of the tail lamp is small. Further, ambient light such asstreetlamp/streetlight or the like may exist in the image capturingarea. Therefore, the tail lamp may not be detected with high precisionif only the light quantity data is used.

To recognize the tail lamp effectively, spectrum information can beused. For example, based on received light quantity of the red-colorlight, the tail lamp can be recognized effectively. The optical filter205 may be disposed with a red-color filter or cyan-color filter matchedto a color of the tail lamp, which is a filter that can pass throughonly a wavelength band matched to a color used for the tail lamp, sothat the received light quantity of the red-color light can be detectedeffectively.

However, each of the light receiving elements configuring the imagesensor 206 may have sensitivity to infra-red light. Therefore, if theimage sensor 206 receives light including infra-red light, the capturedimage may become red-color-like image as a whole. Then, it may becomedifficult to recognize a red-color image portion corresponding to thetail lamp.

In view of such situation, the optical filter 205 includes a lightseparation filter layer 255 to be described later. By employing thelight separation filter layer 255, the light corresponding from thevisible light to light emitted from the light source can be removed fromthe captured image data.

FIG. 29 is a cross-sectional view of the optical filter 205 and theimage sensor 206. FIG. 29 is a schematic configuration of the opticalfilter 205 and the image sensor 206 viewed from a directionperpendicular to a light transmission direction.

The optical filter 205 is disposed close to the receiving face of theimage sensor 206. As illustrated in FIG. 29, the optical filter 205includes a transparent filter board 252. The light separation filterlayer 251 is formed on one face of the transparent filter board 252 (asa face facing the receiving face of the image sensor 206), and apolarized-light filter layer 253 and the light separation filter layer255 are formed with a given order on other face of the transparentfilter board 252.

The optical filter 205 and the image sensor 206 can be bonded with eachother, for example, by using ultraviolet (UV) adhesives. Further, aspacer can be disposed outside of an effective pixel area for imagecapturing between the optical filter 205 and the image sensor 206, andthen sides of the outside of effective pixel area can be bonded by UVadhesives or heat pressing.

The filter board 252 of the optical filter 205 can be made oftranslucent materials, for example, glass, sapphire, quartz, matched tothe use wavelength area such as the visible light range and infraredlight range in an example embodiment. For example, durable lessexpensive glass such as quartz glass having refractive index of 1.46 andTEMPAX (registered trademark) glass having refractive index of 1.51 canbe used as materials of the filter board 252.

FIG. 30 is a front view of the optical filter 205 and the image sensor206. FIG. 30 shows a relationship of the vehicle detection filter 205Aand the adhered object detection filter 205B of the optical filter 205,and the vehicle detection image area 231 and the adhered objectdetection image area 232 on the image sensor 206.

FIG. 31 is a graph of transmittance property of the light separationfilter layer 255 of the optical filter 205. The light separation filterlayer 255 of the optical filter 205 has transmittance property shown inFIG. 31.

Specifically, the light separation filter layer 255 can pass through anincident light of visible light range having a wavelength window of from400 nm to 670 nm, and an incident light of infrared light range having awavelength window of from 940 nm to 970 nm, and cuts an incident lighthaving a wavelength window of from 670 nm to 940 nm.

The transmittance for the wavelength window of 400 nm to 670 nm and thewavelength window of 940 nm to 970 nm is preferably 30% or more, andmore preferably 90% or more. The transmittance for the wavelength windowof from 670 nm to 940 nm is preferably 20% or less, and more preferably5% or less.

The incident light of visible light range can be used to detect avehicle and white lane at the vehicle detection image area 231, and theincident light of infrared light range can be used to detect an adheredobject such as raindrop adhered on the windshield 105 at the adheredobject detection image area 232.

The incident light having a wavelength window of from 670 nm to 940 nmis cut (i.e., not passing through) because if the incident light havinga wavelength window of from 670 nm to 940 is used, the image databecomes red as whole, with which it may become difficult extract thetail lamp and red-color signs having red color.

Because the light separation filter layer 255 cuts the incident lighthaving a wavelength window of from 670 nm to 940 nm, the recognitionprecision of the tail lamp can be enhanced, and further, the detectionprecision of road traffic signs having red color such as “stop” signused in for example Japan can be enhanced.

The wavelength window from 940 nm to 970 nm, and the wavelength windowfrom 400 nm to 670 nm are example wavelength windows used for an exampleembodiment.

The light separation filter layer 255 has a multi-layered film structureformed by stacking thin films of high refractive index and thin films oflow refractive index alternately. The multi-layered film structure canenhance design freedom of spectrum transmittance using interference oflight, and if the thin films are stacked with a greater number, nearly100% reflection coefficient can be achieved for a specific wavelength(e.g., wavelength other than infrared light).

The polarized-light filter layer 253 is disposed for the optical filter205 to reduce noise caused by unnecessary reflection light. The lightemitted from the light source unit 210 reflects on the inner face andouter face of the windshield 105, and the reflection light may enter theobject detection apparatus 101.

This reflection light includes a polarized light component (horizontalpolarized light component), which is perpendicular to a face such as thevertical face in an example embodiment defined by two optical axes suchas an optical axis of the light emitted from the light source unit 210and entering the windshield 105 and an optical axis of the capture lens204, and this horizontal polarized light component is strong polarizedlight component. Therefore, the polarized-light filter layer 253 has apolarized-light filter to pass through the horizontal polarized lightcomponent and to cut a perpendicular polarized light component parallelto the vertical face.

FIG. 32 is a view of a polarizer having a wire grid structure. Thepolarized-light titter 253 may be a polarizer having the wire gridstructure shown in FIG. 32. The wire grid structure is formed bydisposing a number of conductive metal wires with a given wire pitch ina given direction. For example, the wire grid structure polarizer can beconfigure with a number of conductive metal wires such as aluminum wiresarranged with a given wire pitch in a given direction.

By setting the wire pitch of the wire grid structure enough smaller thana wavelength of the incidence light (e.g., wavelength of visible light)such as one half (½) or less of wavelength of the incidence light, lighthaving an electric field vector oscillating in parallel to the long sidedirection of conductive metal wire can be mostly reflected by the wiregrid structure polarizer.

Further, the light having an electric field vector oscillating inperpendicular to the long side direction of conductive metal wire can bemostly passed through by the wire grid structure polarizer.

Therefore, the wire grid structure polarizer can be used as a polarizerthat can generate single polarization light.

Typically, as to the polarizer having the wire grid structure, when thecross sectional area of the metal wire increases, the extinction ratioincreases, and further if the metal wire has a greater width withrespect to a pitch width, the transmittance decreases.

Further, as to the wire grid structure polarizer, if the cross sectionalshape perpendicular to the long side direction of metal wire is a tapershape, the wavelength dispersing phenomenon for the transmittance andthe polarization level become small for broader wavelength range, andthereby a high extinction ratio may be set.

The wire grid structure polarizer can be formed using knownsemiconductor manufacturing process. Specifically, a thin film ofaluminum is deposited on a translucent filter board, and then thepatterning is conducted, and the sub-wavelength convex/concave structureof the wire grid is formed by the metal etching.

By using such manufacturing process, a polarization light direction(i.e., polarization axis), can be adjusted with a size of image capturepixel of image capturing element of the image sensor 206 such as severalμm level for the wire grid structure polarizer.

Further, the wire grid structure polarizer can be formed of metalmaterial such as aluminum having good level of heat-resistance. Suchwire grid structure can be preferably used under high temperatureenvironment which may frequently occur inside vehicles or the like.

A filler agent is filled into the concave portions between the metalwires of wire grid and a space between the filter board 252 and thepolarized-light filter layer 253 to form a filler layer 254. The filleragent may be preferably inorganic materials having a refractive indexsame or smaller than a refractive index of the filter board 252.

Material used for the filler layer 254 preferably has a low refractiveindex as close as the refractive index of “1” of air to preventdeterioration of polarization property of the polarized-light filterlayer 253.

For example, porous ceramic materials having tiny holes dispersed inceramics may be preferably used for the filler layer 254. Specifically,porous silica (SiO₂), porous magnesium fluoride (MgF), or porous alumina(Al₂O₃) can be used.

The refractive index can be set based on the numbers and size (i.e.,porous level) of holes in ceramics. If the main component of the filterboard 252 is quartz or glass of silica, porous silica (n=1.22 to 1.26)can be preferably used for the filler layer 254 because the refractiveindex become smaller than the filter board 252.

The filler layer 254 can be formed by applying the inorganic filleragent using the spin on glass (SOG). Specifically, a solution preparedby solving silanol (Si(OH)₄) into alcohol is applied on the filter board252 using the spin coating method. Then, the solvent is evaporated byapplying heat, and the silanol is reacted under the dehydrogenativepolymerization reaction process to form the filler layer 254.

Because the polarized-light filter layer 253 employs the wire gridstructure having a sub-wavelength size having a weak mechanicalstrength, which may be damaged by a small external force. The mechanicalstrength of the polarized-light filter layer 253 is weak compared to thelight separation filter layer 255 formed on the filler layer 254.

Because the polarized-light filter layer 253 having a weak mechanicalstrength is covered and protected by the filler layer 254, damages tothe wire grid structure of the polarized-light filter layer 253 can bereduced, suppressed, or prevented when installing the optical filter205. Further, because the filler layer 254 is formed, an intrusion offoreign particles to the concave portions of the wire grid structure ofthe polarized-light filter layer 253 can be prevented.

Further, because the filler layer 254 is formed, an intrusion of foreignparticles to the concave portions of the wire grid structure of thepolarized-light filter layer 253 can be prevented.

Further, the height of the convex portion of wire grid structure of thepolarized-light layer 253 is low such as one half or less of thewavelength for use.

In contrast, the height of filter layer of the light separation filterlayer 255 is high such as same or several times of the wavelength foruse. Further, the greater the thickness of the light separation filterlayer 255, the transmittance profile can be set sharp at acut-wavelength. The greater the thickness of the filler layer 254, theharder to secure the flatness of the top face of the filler layer 254.Further, the greater the thickness of the filler layer 254, the harderto secure the evenness of the filler layer 254. Therefore, too-thickfiller layer is not preferable.

In an example embodiment, the light separation filter layer 255 isformed on the filler layer 254 after covering the polarized-light filterlayer 253 by the filler layer 254, in which the filler layer 254 can beformed stably.

Further, as to the optical filter 205, the light separation filter layer255 formed on the filler layer 254 can be formed with a preferableproperty.

As to the optical filter 205, the light separation filter layer 255, thefiller layer 254, and the polarized-light filter layer 253 are disposedon the filter board 252 facing the capture lens 204. In general, it isimportant to minimize defects which may occur during the manufacturingprocess of these layers, and the allowable size of defect (i.e.,allowable upper limit) becomes greater as farther from the image sensor206.

The filter board 252 may have a thickness of, for example, from 0.5 mmto 1 mm.

As to the optical filter 205, by disposing the above mentioned layersare on the filter board 252 facing the capture lens 204, manufacturingprocess can be simplified, and manufacturing cost can be reducedcompared to disposing the above mentioned layers on the filter board 252facing the image sensor 206.

Further, as to the optical filter 205, the light separation filter layer251 is formed on the filter board 252 facing the image sensor 206. Thelight separation filter layer 251 is disposed for the adhered objectdetection filter 205B, but not disposed for the vehicle detection filter205A.

As described above, if the infrared light reflected at the raindrops orfrozen portion on the windshield 105 is to be detected as it is, thelight source unit 210 that irradiates the infrared light may need toincrease the light quantity greater than the ambient light havingenormous light quantity of, for example, the sunlight.

Therefore, as to the optical filter 205, the light separation filterlayer 251 is formed for the adhered object detection filter 205B. Thelight separation filter layer 251 can be a cut filter that can cut lighthaving a wavelength smaller than the emission wavelength of the lightsource unit 210, or a hand-pass filter having the transmittance peaksubstantially matched to the emission wavelength light source unit 210.

FIG. 33 is a graph of transmittance property of the light separationfilter layer 251. As illustrated in FIG. 33, the light separation filterlayer 251 can employ a band-pass filter having the transmittance peaksubstantially matched to the emission wavelength light source unit 210.With this configuration, the ambient light, which is not the emissionwavelength of the light source unit 210, can be removed, and thedetected light quantity originally coming from the light source unit 210can be relatively increased.

The optical filter 205 includes two light separation filter layers suchas the light separation filter layers 251 and 255, and each of the lightseparation filter layers 251 and 255 is formed on the each of faces ofthe filter board 252, which are opposite faces of the filter board 252.With this configuration, warping of the optical filter 205 can besuppressed.

If a multi-layered film structure is formed on only one face of thefilter board 252, the warping of the optical filter 205 may occur due tostress to the multi-layered film structure. However, in an exampleembodiment, the multi-layered film structure is formed both faces of thefilter board 252, with which each stress effect can be cancelled, andthe warping of the optical filter 205 can be suppressed.

The light separation filter layer 251 has a multi-layered film structureformed by stacking thin films of high refractive index and thin films oflow refractive index alternately, which is referred to a wavelengthfilter. The multi-layered film structure can enhance design freedom ofspectrum transmittance using interference of light, and if the thinfilms are stacked with a greater number, nearly 100% reflectioncoefficient can be achieved for a specific wavelength.

When depositing the light separation filter layer 251 using the vapordepositing, a mask is placed to cover a portion corresponding to thevehicle detection filter 205A so that the light separation filter layer251 is not formed on the vehicle detection filter 205A while the lightseparation filter layer 251 can be formed on the adhered objectdetection filter 205B.

Typically, color filters used for color sensors are made of resistmaterial. However, control of spectrum properties using the resistmaterial is difficult compared to the multi-layered film structure.

In art example embodiment, by employing the multi-layered film structurefor the light separation filter layers 251 and 255, any spectrumproperties can be obtained. Therefore, the passing wavelength range ofthe light separation filter layers 251 and 255 can be substantiallymatched to the wavelength range of the light of the light source unit210.

As to the optical filter 205, the light separation filter layer 251 isdisposed for suppressing the ambient light but not limited hereto. Forexample, raindrop can be detected using a configuration without thelight separation filter layer 251.

A configuration having the light separation filter layer 251 suppressingthe ambient light effect is preferable as a configuration of the opticalfilter 205 because the raindrop can be detected effectively by reducingthe effect of ambient light, in which fluctuation caused by noise can besuppressed.

FIG. 34 is an example captured image using the reflective deflectionprism 220E shown in FIG. 23, in which a condition composed of adheringof raindrop and no-adhering of fogging is captured.

FIG. 35 is an example captured image using the reflective deflectionprism 220E, in which a condition composed of raindrops adhering ofraindrop and fogging adhering is captured.

When the reflective deflection prism 220E is used, some of the light L1emitted from the light source unit 210 regularly reflects on the outerface of the windshield 105 where the raindrops 203 does not adhere asthe regular reflection light L3, and then the regular reflection lightL3 is received at the center portion in left/right direction of theadhered object detection image area 232, in which the portion receivingthe light L3 becomes high luminance.

Further, when some of the light L1 emitted from the light source unit210 strikes or enters the windshield 105 where the raindrops 203adheres, the light does not reflect regularly on the outer face of thewindshield 105, thereby the regular reflection light is not received atthe center portion in left/right direction of the adhered objectdetection image area 232, in which the portion not receiving the lightbecomes low luminance.

In contrast, because the both end portions in left/right direction ofthe adhered object detection image area 232 does not receive the regularreflection light L5, the both end portions may be constantly at lowluminance as illustrated in FIG. 34.

However, if fogging occurs on the inner face of the windshield 105, thisfogging condition is assumed as adhering of small-sized water drops, anddiffused reflection light occurs at a fogging area 203A.

By receiving this diffused reflection light, the luminance of foggingportion becomes slightly greater than the luminance of no-foggingportion as illustrated in FIG. 35

If fogging adheres on the inner face of the windshield 105, a contour oredge of a hood 100 a displayed on the vehicle detection image area 231may be blurred.

As to the object detection apparatus 101, by using this blurred edgeimage, it can detect whether fogging occurs.

Even if the optical filter 205 is disposed as described above, someambient may pass through a band-pass range of the optical filter 205because some ambient light may have the same emission wavelength of thelight source unit 210, thereby the effect of ambient light cannot beremoved completely.

For example, during the day, infrared wavelength component of thesunlight affects as ambient light, and at night, infrared wavelengthcomponent included in headlight of oncoming vehicles affects as theambient light. These ambient lights may cause a false detection whendetecting the raindrop 203.

For example, an algorithm to detect the raindrops 203 is employed, inwhich the algorithm is used to determine that raindrop adheres at aportion where a luminance value on the adhered object detection imagearea 232 changes greater than a given level. However, a false detectionof raindrop may occur if the luminance value is offset by the effect ofambient light.

This false detection can be prevented by controlling a light-ON timingof the light source unit 210. For example, the light-ON timing of thelight source unit 210 is synchronized to an exposure timing of the imagesensor 206.

Specifically, an image is captured when the light source unit 210 is setlight-ON, and an image is captured when the light source unit 210 is setlight-OFF for the adhered object detection image area 232 to generate adifference image of the two captured images, and then the raindropdetection is conducted based on the difference image.

Therefore, in this method, at least two frames of captured image areused to detect raindrops.

FIG. 36 is one of two frames for detecting raindrop. FIG. 36 is anexample of captured image for one of two frames to detect raindrop,which is captured when the light source unit is set light-OFF.

FIG. 37 is one of two frames for detecting raindrop. FIG. 37 is anexample of captured image for one of two frames to detect raindrop,which is captured when the light source unit is set light-ON. When thelight source unit 210 is set light-OFF, only an image of ambient lightis captured for the adhered object detection image area 232.

In contrast, when the light source unit 210 is set light-ON, art imagecaused by ambient light and an image caused by the light source unit 210are captured for the adhered object detection image area 232.

Therefore, luminance value (pixel value of difference image) that can beobtained by computing a difference of luminance between the two framescan remove the effect of ambient light. By conducting the raindropdetection based on this difference image, the false detection caused byambient light can be suppressed.

Further, by setting the light-OFF for the light source unit 210 exceptat the light-ON timing of the light source unit 210 to detect raindrop,power consumption can be reduced preferably.

As to the ambient light, the sunlight may not change greatly along thetimeline, but the light of headlight of oncoming vehicles receivablewhen the vehicle 100 is running may change greatly within a very shortperiod of time.

In this case, if a time interval between the two frames to obtain thedifference image is long, the value of ambient light may change duringthe time interval, in which when the difference image is generated, theambient light may not be cancelled effectively. To prevent thissituation, the two frames used for obtaining the difference image arepreferably consecutively captured frames.

As to the object detection apparatus 101, when a normal frame to be usedfor image information for the vehicle detection image area 231 iscaptured, an automatic exposure control (AEC) is conducted based onluminance value for the vehicle detection image area 231 while the lightsource unit 210 is set light-OFF.

At a given timing when capturing the normal frames, the two frames usedfor raindrop detection are consecutively captured between the normalframes. When the two frames are captured, the exposure control suitablefor raindrop detection is conducted instead of the AEC used forcapturing the normal frames.

Further, when the vehicle control and light beam orientation control areconducted based on image information of the vehicle detection image area231, the automatic exposure control (AEC) is conducted based on theluminance value at the center of captured image.

However, when capturing the two frames used for detecting raindrop, anexposure control suitable for the raindrop detection is preferablyconducted. If the AEC is conducted when capturing the two frames usedfor the raindrop detection, an exposure time for capturing a frame whenthe light source unit 210 is set light-ON and an exposure time forcapturing a frame when the light source unit 210 is set light-OFF maychange.

If the exposure time differs between the two frames, luminance value ofthe ambient light included in each of the frames may change, with whichthe ambient light cannot be cancelled suitably using the differenceimage.

Therefore, the exposure control for the two frames used for detectingraindrop can be conducted, for example, by using the same exposure timefor the two frames.

Further, as to the two frames for detecting raindrop, instead of usingthe same exposure time for the two frames, the difference image can begenerated by correcting a difference of exposure time using an imageprocessing.

Specifically, when an exposure time for a frame captured when the lightsource unit 210 is set light-ON is referred to as the exposure time Ta,and an exposure time for a frame captured when the light source unit 210is set light-OFF referred to as the exposure time Tb, as shown infollowing formulas (1) to (3), the luminance value Ya for the light-ONframe and the luminance value Yb for the light-OFF frame are divided byrespective exposure time to compute a difference value Yr.

By using the corrected difference image, even if the exposure timebetween the two frames may be different, the effect of ambient light canbe removed effectively without an effect of the difference exposuretime.YA=Ya/Ta  (1)YB=Yb/Tb  (2)Yr=YA−YB  (3)

Further, instead of using the same exposure time for the two frames, thedifference image can be generated by controlling irradiation lightquantity of the light source unit 210 depending on the difference ofexposure time.

In this method, the irradiation light quantity of the light source unit210 is decreased for a frame having a long exposure time, with whichwithout an effect of the different exposure time, the effect of ambientlight can be removed effectively using the difference image of the twoframes having different exposure time.

Further, as to this method of controlling irradiation light quantity orlight intensity from the light source unit 210 based on the differenceof exposure time, the correction by the above described image processingis not required, wherein the above described correction using the imageprocessing may increase the processing load.

Further, the light emission output of LED 211 used as the light emittingelement of the light source unit 210 changes when temperature changes.Specifically, when temperature increases, the light emission output ofthe light source unit 210 may decrease.

Further, the light emission quantity of the LED 211 may decrease due toaging. If the light emission output of the light source unit 210 changesor varies, such change may be recognized that luminance value changeseven if raindrop does not adhere, with which a false detection ofraindrop may occur.

To suppress the effect of light emission output change of the LED 211,as to the object detection apparatus 101, it is determined whether thelight emission output of the LED 211 changes, and if it is determinedthat the light emission output of the LED 211 changes, the lightemission output of the LED 211 is increased.

The change of light emission output of the LED 211 can be determined asfollows. As to the object detection apparatus 101, the total reflectionlight L3 from the outer face of the windshield 105 is captured as atwo-dimensional image at the adhered object detection image area 232.Therefore, if the change of light emission output of the LED 211 occurs,luminance of the adhered object detection image area 232 becomes loweras a whole.

Further, when the outer face of the windshield 105 is wet by rain,luminance of the adhered object detection image area 232 becomes loweras a whole. Therefore, the above two cases of lower luminance needs tobe distinguished.

Therefore, when luminance of the adhered object detection image area 232becomes lower as a whole, the wiper 107 is operated. If luminance of theadhered object detection image area 232 is still lower as a whole afteroperating the wiper 107, it is determined that the change of lightemission output of the LED 211 occurs.

(Process of Detecting Windshield Condition)

A description is given of a process of detecting conditions of thewindshield 105 with reference to FIG. 38.

FIG. 38 is a flowchart showing the steps of a process of detectingconditions of the windshield 105 conduct-able by the image analyzer 102.

Compared to the vehicle detection filter 205A not having the lightseparation filter layer 251, the adhered object detection filter 205Bhaving the light separation filter layer 251 receives light with asmaller light quantity.

Therefore, the light quantity passing through the adhered objectdetection filter 205B and the light quantity passing through the vehicledetection filter 205A have a greater difference. Therefore, an imagecapturing condition (e.g., exposure value) matched to the vehicledetection image area 231 corresponding to the vehicle detection filter205A, and an image capturing condition (e.g., exposure value) matched tothe adhered object detection image area 232 corresponding to the adheredobject detection filter 205B have a greater difference.

Therefore, in the image analyzer 102, different exposure values are usedfor capturing an image for the vehicle detection image area 231 (usedfor vehicle detection) and capturing an image for the adhered objectdetection image area 232 (used for adhered object detection).

For example, adjustment of exposure value for detecting vehicle can beconducted by conducting an automatic exposure adjustment based on anoutput of the image sensor 206 corresponding to the vehicle detectionimage area 231 (S1) while the adjustment of exposure value for adheredobject detection image area 232 can be adjusted to a given set exposurevalue (S5).

The exposure value can be changed, for example, by changing the exposuretime. The exposure time can be changed, for example, by controlling thetime duration for converting the light quantity received by the imagesensor 206 to electrical signals by using the image analyzer 102.

The vehicle detection image area 231 is used for capturing an imagearound the vehicle 100. Because the lighting condition around thevehicle changes greatly such as from several tens of thousands lux (lx)during the day to one lux or less at night, the received light quantitychanges greatly depending on image capturing scenes.

Therefore, as to the vehicle detection image area 231, the exposure timeis required to be adjusted based on the image capturing scenes. Forexample, it may be preferable to adjust the exposure value for thevehicle detection image area 231 using the known automatic exposurecontrol (AEC).

In contrast, an image for the adhered object detection image area 232 iscaptured by receiving the light emitted having a given constant lightquantity from the light source unit 210 through the optical filter 205having a given transmittance, in which the received light quantitychanges a little.

Therefore, the automatic adjustment of exposure value is not conductedfor the adhered object detection image area 232, and an image for theadhered object detection image area 232 can be captured using a setexposure time. By using the set exposure time, the control time ofexposure value can be shortened, and the exposure value control can besimplified.

In the object detection apparatus 101, upon conducting the exposureadjustment for the vehicle detection image area 231 (S1), the imageanalyzer 102 obtains image data of the vehicle detection image area 231(S2).

In the object detection apparatus 101, image data of the vehicledetection image area 231 can be used to detect vehicles, lanes (e.g.,white line), road traffic signs, and also used for the wiper control andthe defroster control to be described later.

Therefore, upon obtaining the image data of the vehicle detection imagearea 231, the image analyzer 102 detects parameter for the wiper controland the defroster control (S3), and stores the parameter to a givenstorage area (S4).

FIG. 39 is a flowchart showing the steps of a process of detectingparameter for the wiper control and the defroster control from the imagedata of the vehicle detection image area 231.

In the object detection apparatus 101, the value of luminance variancefor the vehicle detection image area 231 is used for detecting theparameter for the wiper control and the defroster control (S31).

Further, in the object detection apparatus 101, an image capturing areais set so that an edge portion between a hood of the vehicle 100 and abackground can be detected, and a result of an edge extraction of thehood is also used as a parameter (S32).

FIG. 40 is a view of fogged windshield, and FIG. 41 is a view of frozenwindshield. When the windshield 105 is fogged as illustrated in FIG. 40or when the windshield 105 is frozen as illustrated in FIG. 41, theluminance variance for an image of the vehicle detection image area 231becomes small.

Therefore, the luminance variance for the vehicle detection image area231 can be effectively used to detect whether the windshield 105 isfogged or frozen.

Further, if the windshield 105 is fogged or frozen, an extraction of theedge portion of the hood becomes difficult.

Therefore, information whether the edge portion of the hood is extractedcan be effectively used to detect whether the windshield 105 is foggedor frozen.

Then, as shown in FIG. 38, an exposure adjustment (e.g., exposure timeadjustment) for the adhered object detection image area 232 is conductedin view of the light power of the light source unit 210 and spectrumproperties of the light separation filter layer 251 of the opticalfilter 205 (S5).

Then, the image analyzer 102 obtains image data of the adhered objectdetection image area 232 (S6).

Then, the image analyzer 102 detects parameter for the wiper control andthe defroster control using the image data of the adhered objectdetection image area 232 (S7), and stores the parameter to a givenstorage area (S8).

FIG. 42 is a flowchart showing the steps of a process of detectingparameter for the wiper control and the defroster control from the imagedata of the adhered object detection image area 232.

In the image analyzer 102, the average luminance value for the adheredobject detection image area 232 is computed and used as a parameter forthe wiper control and the defroster control (S71).

If the windshield 105 is adhered with raindrop, fogging or frozenportion, the average luminance value for the adhered object detectionimage area 232 decreases.

Therefore, it can detect whether the adhered object (e.g., raindrops,fogging, frozen) adheres based on the average luminance value of theadhered object detection image area 232.

Further, in the image analyzer 102, the luminance variance value for theadhered object detection image area 232 is computed and used as aparameter for the wiper control and the defroster control (S72).

If a size of raindrop is small (e.g., light rain), a total area ofraindrop captured on the adhered object detection image area 232 becomessmall, and the luminance variance value may not change so much comparedto a case that the adhered object does not adhere on the windshield 105.

However, if raindrop having relatively greater size adhere on thewindshield 105 with an increased number of raindrops, the luminancevariance value becomes small because blurred images of raindrops aresuperimposed.

Further, when the windshield 105 is fogged or is frozen, the luminancevariance value becomes also small.

Therefore, the image analyzer 102 can detect whether adhered objectadhered on the windshield 105 is a level of light rain based on theluminance variance value for the adhered object detection image area232.

Further, in the image analyzer 102, the occupying ratio of adheredobject area on the adhered object detection image area 232 is computedand used as a parameter for detecting the wiper control and thedefroster control (S73).

The adhered object area on the adhered object detection image area 232is a ratio of the number of pixels (image area), having the averageluminance value exceeding the control value, with respect to the totalnumber of pixels (total area) of the adhered object detection image area232.

Because the occupying ratio of adhered object area of fogging portionand frozen portion is typically large, based on the occupying ratio ofadhered object area on the adhered object detection image area 232, theimage analyzer 102 t can detect whether adhered object adhered on thewindshield 105 is fogging and frozen but not at level of light rain.

Further, in the image analyzer 102, time-wise change of the abovedescribed average luminance, luminance variance and the occupying ratioof adhered object area can be detected as the parameter for the wipercontrol and the defroster control (S74 to S76).

The time-wise change is an amount changed from image data of the adheredobject detection image area 232 captured last time to image data of theadhered object detection image area 232 captured current time. Thefrozen or fogging cannot increase rapidly in a short period of time, butthe splash (spray of water raised by other vehicles) adhering thewindshield 105 can increase rapidly in a short period of time.

Therefore, based on the time-wise change of the average luminance forthe adhered object detection image area 232, luminance variance for theadhered object detection image area 232, and the occupying ratio ofadhered object area, it can detect whether adhered object adhered on thewindshield 105 is splash.

As illustrated in FIG. 38, upon storing the detected parameter for thewiper control and the defroster control, the image analyzer 102determines the condition of the windshield 105 (S9).

FIG. 43 is a flowchart showing the steps of a process of determining thecondition of the windshield 105. FIGS. 44 and 45 are tables havingdetermination criteria for determining the condition of the windshield105.

In a process of determining the conditions of the windshield 105,initially, it is determined whether the exposure time for the vehicledetection image area 231, determined by the automatic exposureadjustment at step S1, is smaller than a threshold A, for example, 40 ms(S91).

If the exposure time becomes great such as greater than the threshold A,it can be determined that an image capturing area is at night with alittle light quantity. Therefore, whether the exposure time is smallerthan the threshold A, it can be recognized whether the image capturingarea is during the day or at night.

If it is determined that the image capturing area is at night, thedetermination precision of the condition of the windshield 105 based onthe parameter obtained from the image data of the vehicle detectionimage area 231 (e.g., luminance variance, edge extraction result of thehood) becomes low.

Therefore, if it is determined at night, the parameter obtained from theimage data of the vehicle detection image area 231 (e.g., luminancevariance, edge extraction result of the hood) is not used, but theparameter obtained from the adhered object detection image area 232 isused to determine the condition of the windshield 105 in the imageanalyzer 102.

If it is determined that the image capturing area is during the day atstep S91, then it is determined whether the luminance variance of thevehicle detection image area 231 is greater than a threshold B (S92),and this determination result is stored to a given storage area. Thethreshold B can be set by experiments or the like for each exposuretime, and prepared as a table. The threshold B is preferably determinedand used depending on each exposure time.

Further, if it is determined that the image capturing area is during theday at step S91, it is determined whether the edge portion of the hoodin the vehicle detection image area 231 is extracted (S93), and thisdetermination result is stored to a given storage area.

The extraction of the edge portion of the hood can be conducted asfollows. For example, an image area including the hood and background iscaptured, and then a differential image for the horizontal edgecomponent of image is generated based on luminance change of adjacentpixels in the vertical direction of the image.

The generated differential image is compared with each differentialimage pattern of the horizontal edge component stored in advance, withwhich comparison result is obtained.

If it is determined that a pattern matching deviation for each detectedarea is a given threshold or less based on the comparison result, it isdetermined that the edge portion of the hood is detected. If the edgeportion can be extracted, it can be determined that fogging, frozen, orsplash does not occur to the windshield 105.

Then, it is determined for various parameters obtained from the adheredobject detection image area 232. Specifically, it is determined whetherthe average luminance for the adhered object detection image area 232 isgreater or smaller than a threshold C (S94), and this determinationresult is stored in a given storage area.

As described above, if raindrops adhere on the windshield 105, theaverage luminance becomes small. For example, if the luminance of theadhered object detection image area 232 has 1024 gradient, it isdetermined whether the average luminance is smaller than 900 (thresholdC), removing noise component, is detected.

Further, it is determined whether the luminance variance for the adheredobject detection image area 232 is greater or smaller than a threshold D(S95), and this determination result is stored in a given storage area.

For example, if the luminance of the adhered object detection image area232 has 1024 gradient, it can be determined that the windshield 105 isfogged or frozen when the luminance variance is smaller than thethreshold D such as 50.

Further, it is determined whether the time-wise change of the averageluminance for the adhered object detection image area 232 is greater orsmaller than a threshold E (S96), and this determination result isstored in a given storage area.

If the time-wise change of the average luminance is determined greaterthan the threshold E at S96, with which it can be determined that splashhas occurred.

Further, it is determined whether the occupying ratio of adhered objectarea on the adhered object detection image area 232 is smaller than athreshold F such as one-fifth (S97), and this determination result isstored in a given storage area.

For example, under a condition that the light emitted from the lightsource unit 210 irradiates evenly, if an area having the averageluminance is smaller than the threshold F, it can be determined thatlight rain adheres, and if an area having the average luminance isone-fifth (⅕) or more, it can be determined that an object other thanlight rain adheres.

Further, in the image analyzer 102, a detection result of thetemperature sensor 111 can be used as a parameter for the wiper controland the defroster control, in which it is determined whether the ambienttemperature detected by the temperature sensor 111 is greater or smallerthan a threshold G (S98), and this determination result is stored in astorage area.

For example, if the ambient temperature is zero degree (threshold G) orless, it can be determined that snowing or frozen occurs.

Upon obtaining the determination result for each of parameters, based onthe determination result for each of parameters and information includedin the table shown in FIGS. 44 and 45, the condition of the windshield105 can be determined (S99).

In this condition determination, the determination result for each ofparameters may be preferably set with weighting. For example, theparameter detected for the adhered object detection image area 232 andambient temperature may be set with a weighting coefficient of 10, andthe parameter detected for the vehicle detection image area 231 may beset with a weighting coefficient of 5.

Further, as for the determination result for each of parameters, 1 isset when a difference exists with a normal value, and 0 is set when adifference does not exist with a normal value.

Then, the determination result for each of parameters is multiplied withthe weighting coefficient to obtain a total sum of the determinationresult the parameters. Then, the total sum is compared with a threshold.With this configuration, even if the determination result for each ofparameters does not exactly match the information in the tables shown inFIGS. 44 and 45, the conditions of the windshield 105 can be determined.

Further, if it is determined that the parameter for the adhered objectdetection image area 232 is different from the normal value, the wipermay be operated one time, and then condition of the windshield 105 canbe checked and determined again using each parameter.

As shown in FIG. 38, when the determination result for condition of thewindshield 105 is obtained, the image analyzer 102 issues instructionsfor processes and controls such as wiper control and defroster controlmatched to the result of condition determination (S10).

FIG. 46 is an example of table for the wiper control and defrostercontrol. The image analyzer 102 issues instructions for processes andcontrols at S10 in view of on a table shown in FIG. 46.

For example, the wiper control controls the wiper speed at three steps(e.g., slow, normal, fast), and the defroster control controls whetherhot air is supplied to the inner face of the windshield 105 with amaximum wind volume.

(Object Detection Apparatus (2))

A description is given of an object detection apparatus according toanother example embodiment of the present invention.

FIG. 47 is a block diagram of a vehicle equipped with an objectdetection apparatus 6 according to another example embodiment of thepresent invention. In this configuration, the object detection apparatus6 is applied to an automatic wiper control apparatus for a vehicle.

A shown in FIG. 47, a vehicle includes, for example, a windshield 1, awiper blade 2, a wiper control unit 3, and the object detectionapparatus 6.

The windshield 1 is a member where raindrop may adhere, and can be madeof, for example, soda-lime glass.

The wiper blade 2 is used to wipe or remove raindrop adhered on thewindshield 1.

The wiper control unit 3 controls operation of the wiper blade 2. Thewiper control unit 3 includes, for example, a wiper motor 4, a wipermotor drive circuit 5, and a wiper switch (S/W) 7. The wiper motor 4 isan electrical driver that drives the wiper blade 2. The wiper switch 7is used as a switch to set start and stop of automatic control of thewiper blade 2.

The wiper switch 7 can be set to setting positions of, for example, fivelevels by a driver.

When the wiper switch 7 is set to an automatic control, a wiper wipingmode can be determined based on raindrop detection signal detected bythe object detection apparatus 6, and a wiper control signalcorresponding to the raindrop detection signal is output to the wipermotor drive circuit 5, with which the wiper blade 2 can be automaticallycontrolled.

The object detection apparatus 6 includes, for example, a centralprocessing unit (CPU) 14 used as a computing unit. The object detectionapparatus 6 is supplied with power from a vehicle-installed power source32 when an ignition switch 40 is turned ON and the wiper switch 7 is setto the automatic control.

FIG. 43 is a cross-sectional view of a configuration of the objectdetection apparatus 6. The object detection apparatus 6 is disposed atan inner face of the windshield 1 within a wiping area of the wiperblade 2.

As to the object detection apparatus 6, light from a light emittingelement 8 such as a light emitting diode (hereinafter, LED 8) that emitsinfrared light is incident to the windshield 1, and then reflected bythe windshield 1. The reflected light is received by a light receivingelement 9 (hereinafter, photodiode 9).

As illustrated in FIG. 47, light emission timing of the LED 8 (i.e.,power-ON and power-OFF timing from vehicle-installed power source 32) iscontrolled by the CPU 14 via a LED drive circuit 15.

Further, as illustrated in FIG. 47, an output value of the photodiode 9is processed for photo-voltage conversion by a detection/amplificationcircuit 16, and is input to the CPU 14.

The object detection apparatus 6 is disposed with a prism 10 at an innerface side of the windshield 1, in which the prism 10 is used toconfigure a light path from the LED 8 to the light receiving element 9.

The prism 10 can be used as the light guide member according to anexample embodiment of the present invention, and is disposed between theLED 8 and the windshield 1, and between the windshield 1 and thephotodiode 9. The prism 10 is used to enter light from the LED 8 to thephotodiode 9. Similar to the above described reflective deflection prism220, the prism 10 has a convex face having curvature used as a contactface contactable to an attachment face of the windshield 1 havingcurvature.

Further, the prism 10 is made of, for example, resin such as norborn,but can be made of polycarbonate acryl.

The prism 10 is attached and contacted to the windshield 1 via anintervening member (e.g., adhesive sheet of silicone resin) that canpass infrared light. The prism 10 can be attached using the interveningmember as similar to the reflective deflection prism 220 of the objectdetection apparatus 101.

Further, the prism 10 reflects reflection light from the windshield 1 tothe photodiode 9 that receives the reflection light, and also blocksentering of the sunlight from the outside of the vehicle to thephotodiode 9.

For example, when no raindrop adheres on the windshield 1, light fromthe LED 8 passes the prism 10 and totally reflects on an inner face ofthe windshield 1. Then, this totally reflected infrared light is totallyreflected by the reflection portion 19 of the prism 10, and totallyreflected on the inner face of the windshield 1, and then enters thephotodiode 9.

In contrast, when raindrops adhere on the windshield 1, light from theLED 8 passing the prism 10 is not totally reflected on the inner face ofthe windshield 1, with which light quantity of light that enters thephotodiode 9 from the LED 8 decreases.

As to the object detection apparatus 6, when raindrops adhere on thewindshield 1, reflectance at the windshield 1 changes such as smallerreflectance. Based on decrease of light quantity received by thephotodiode 9, an adhered object such as raindrop amount can be detected.

As to the object detection apparatus 6, a raindrop detection signal fromthe windshield 1 becomes different whether raindrop exists or not.Therefore, by monitoring change of raindrop detection signal, it candetect whether raindrop exists or not, and the wiper blade 2 can beautomatically activated when raindrop exists.

A base unit 11 retains the LED 8 and the photodiode 9.

Further, the LED 8, the photodiode 9 and the base unit 11 are encased incover casings 13 a and 13 b and integrated.

Such integrally formed object detection apparatus 6 is fixed on an innerface of the windshield 1 using an intervening member 17.

The prism 10 includes the reflection portion 19 at the center of theprism 10. As illustrated in FIG. 48, thickness of the reflection portion19 is thin compared to other potions.

An aspherical lens 30 deflects light from the LED 8 to parallel light,and then the light passes the prism 10. The aspherical lens 30 can beintegrally formed with the prism 10.

Further, an aspherical lens 31 deflects the light passing the prism 10to parallel light, and then the light enters the photodiode 9. Theaspherical lens 31 can be integrally formed with the prism 10.

As to the above described object detection apparatus 6, even if theobject detection apparatus is attached to the windshield 1 havingcurvature, detection performance of the object detection apparatus 6 canbe improved, in which detection performance of the object detectionapparatus 6 can be secured at good enough level.

(Vehicle)

A description is given of vehicles according to example embodiments. Adescription is given of the vehicle 100 of FIG. 1 and the vehicle ofFIG. 47 as example embodiments of the present invention.

As illustrated in FIG. 1, the vehicle 100 includes the object detectionapparatus 101 near a rear view mirror disposed at an upper side andinner side of the windshield 105 in the vehicle 100.

Further, as illustrated in FIG. 47, the vehicle according to anotherexample embodiment can include the object detection apparatus 6 near arear view mirror disposed at an upper side and inner side of thewindshield 105 in the vehicle 100.

As to the vehicles according to example embodiments, an attachmentposition of the object detection apparatus according to exampleembodiments is not limited to the above described position but can beother positions as long as an outside view of vehicle-forward or frontdirection can be detected.

As to the vehicles according to example embodiments, even if the objectdetection apparatus is attached to the windshield having curvature, thevehicle having improved detection performance of the object detectionapparatus can be provided, in which detection performance of the objectdetection apparatus can be secured at good enough level.

As to the above described example embodiment, detection performance ofan object detection apparatus can be improved.

Numerous additional modifications and variations are possible in lightof the above teachings. It is therefore to be understood that, withinthe scope of the appended claims, the disclosure of the presentinvention may be practiced otherwise than as specifically describedherein. For example, elements and/or features of different examples andillustrative embodiments may be combined each other and/or substitutedfor each other within the scope of this disclosure and appended claims.

What is claimed is:
 1. A light guide member useable for an object detection apparatus, the object detection apparatus including a light source unit, and a detection unit for detecting an object adhered on a surface of a light translucent member, configuring a vehicle, based on change of light quantity of reflection light received from the light translucent member when light exiting from the light source unit is reflected from the light translucent member, the light guide member comprising: an incident face where the light exiting from the light source unit enters; a detection face where the exiting light exits to a rear face of the light translucent member and the reflection light reflected from the light translucent member enters; an exiting face where the reflection light exits to the detection unit; and a light guiding portion through which the exiting light and the reflection light proceed, wherein the detection face includes an intervening member and has curvature corresponding to curvature of the light translucent member, and wherein the detection face includes a region where the reflection light passes through, the region including a center of the curvature.
 2. The light guide member of claim 1, wherein the detection face has the curvature along a long side direction at an area of the detection face where the reflection light passes through.
 3. The light guide member of claim 1, wherein the light source unit includes a plurality of light emitting points arranged in a direction corresponding to a vehicle width direction of the vehicle, and the detection face has the curvature along a direction corresponding to the vehicle width direction.
 4. The light guide member of claim 1, wherein the curvature of the detection face is smaller than the curvature of the light translucent member facing the detection face.
 5. The light guide member of claim 1, wherein the curvature of the detection face matches curvature of an inner face of the light translucent member facing the detection face.
 6. The light guide member of claim 1, wherein the detection face is attachable to the light translucent member via an intervening member.
 7. The light guide member of claim 1, wherein the light translucent member is a windshield, and the object to adhere on a surface of the windshield is raindrop.
 8. The light guide member of claim 1, wherein the detection unit is an image capturing element.
 9. An object detection apparatus for detecting an object adhered on a surface of a light translucent member configuring a vehicle, comprising: a light source unit; the light guide member of claim 1 used for guiding light exiting from the light source unit to the light translucent member; and a detection unit to detect an object adhered on the surface of the light translucent member based on change of light quantity of reflection light received from the light translucent member when light enters the light translucent member via the light guide member, passes through the light translucent member, and then reflects on the surface of the light translucent member.
 10. A vehicle comprising: the object detection apparatus of claim 9 that detects an object adhered on a surface of a light translucent member of the vehicle.
 11. The light guide member of claim 1, wherein the light guide member is tapered, and the tapered light guide member is disposed on the light source unit, and wherein light emitted from the light source unit is directed in a desired direction through the tapered light guide member.
 12. The tapered light guide member of claim 11, wherein the tapered light guide member includes a taper rod lens. 